feat: 集成空间索引到碰撞检测系统（单层架构）
重构说明： - 移除两层架构的 GetPotentialColliders() 方法 - 移除不再使用的 CalculatePathBounds() 方法 - 在 PrecomputeAnimationFrames() 中构建全局空间索引 - 每帧使用空间索引直接查询附近对象（O(1) 复杂度） 技术细节： - 网格大小：基于动画对象包围盒尺寸 - 搜索半径：对象对角线的一半 + 检测间隙 - 自动排除动画对象本身 性能优势： - 旧架构：290 对象 → 108 对象（预过滤）→ 每帧遍历 108 对象 - 新架构：290 对象 → 每帧空间查询 ~5-15 对象 - 预期性能提升：10-15x
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@ -377,17 +377,36 @@ namespace NavisworksTransport.Core.Animation
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originalBoundingBox.Max.Y - originalBoundingBox.Min.Y,
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originalBoundingBox.Max.Z - originalBoundingBox.Min.Z
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);
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// 获取场景中所有可能碰撞的对象
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var potentialColliders = GetPotentialColliders();
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LogManager.Info($"潜在碰撞对象数: {potentialColliders.Count}");
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// 【新架构】构建全局空间索引（单层架构）
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LogManager.Info("=== 构建全局空间索引 ===");
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var spatialIndexManager = SpatialIndexManager.Instance;
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// 使用包围盒对角线作为网格大小的参考（确保合理的网格粒度）
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double cellSizeInModelUnits = Math.Max(
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boundingBoxSize.X,
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Math.Max(boundingBoxSize.Y, boundingBoxSize.Z)
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);
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spatialIndexManager.BuildGlobalIndex(cellSizeInModelUnits);
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LogManager.Info(spatialIndexManager.GetStatistics());
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// 计算搜索半径：动画对象包围盒的对角线 + 检测间隙
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double objectDiagonal = Math.Sqrt(
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boundingBoxSize.X * boundingBoxSize.X +
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boundingBoxSize.Y * boundingBoxSize.Y +
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boundingBoxSize.Z * boundingBoxSize.Z
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);
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double searchRadiusInModelUnits = objectDiagonal / 2 + _detectionGap;
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LogManager.Info($"空间查询半径: {searchRadiusInModelUnits:F2} 模型单位");
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// 预计算每一帧
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for (int i = 0; i < totalFrames; i++)
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{
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double progress = (double)i / totalFrames;
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var framePosition = InterpolatePosition(progress);
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// 创建帧数据
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var frame = new AnimationFrame
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{
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@ -396,12 +415,19 @@ namespace NavisworksTransport.Core.Animation
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Position = framePosition,
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Collisions = new List<CollisionResult>()
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};
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// 虚拟碰撞检测（不移动实际物体）
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var virtualBoundingBox = CreateVirtualBoundingBox(framePosition, boundingBoxSize);
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// 检测与所有潜在对象的碰撞
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foreach (var collider in potentialColliders)
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// 【新架构】使用空间索引查询附近对象
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var nearbyObjects = spatialIndexManager.FindNearbyObjects(
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framePosition,
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searchRadiusInModelUnits,
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excludeObject: _animatedObject
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);
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// 检测与附近对象的碰撞
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foreach (var collider in nearbyObjects)
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{
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var colliderBox = collider.BoundingBox();
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@ -455,122 +481,6 @@ namespace NavisworksTransport.Core.Animation
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}
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}
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/// <summary>
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/// 获取潜在碰撞对象列表
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/// </summary>
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private List<ModelItem> GetPotentialColliders()
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{
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try
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{
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LogManager.Info("开始获取潜在碰撞对象");
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// 构建通道缓存
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ClashDetectiveIntegration.Instance.BuildChannelObjectsCache();
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ClashDetectiveIntegration.BuildAllGeometryItemsCache();
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// 获取所有有几何体的对象
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var allItems = NavisApplication.ActiveDocument.Models.RootItemDescendantsAndSelf
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.Where(item => item.HasGeometry)
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.ToList();
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// 构建排除列表：动画对象本身及其子对象
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var excludeList = new ModelItemCollection();
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excludeList.AddRange(_animatedObject.DescendantsAndSelf);
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// 计算路径包围盒
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var pathBounds = CalculatePathBounds();
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// 计算路径包围盒中心点（模型单位）
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var pathCenter = new Point3D(
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(pathBounds.Min.X + pathBounds.Max.X) / 2,
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(pathBounds.Min.Y + pathBounds.Max.Y) / 2,
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(pathBounds.Min.Z + pathBounds.Max.Z) / 2
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);
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// 计算包围盒对角线长度
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var diagonal = Math.Sqrt(
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Math.Pow(pathBounds.Max.X - pathBounds.Min.X, 2) +
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Math.Pow(pathBounds.Max.Y - pathBounds.Min.Y, 2) +
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Math.Pow(pathBounds.Max.Z - pathBounds.Min.Z, 2)
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);
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// 检测半径 = 包围盒对角线的一半（精确覆盖整条路径）
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var detectionGap = diagonal / 2;
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LogManager.Info($"路径包围盒: Min=({pathBounds.Min.X:F2}, {pathBounds.Min.Y:F2}, {pathBounds.Min.Z:F2}), " +
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$"Max=({pathBounds.Max.X:F2}, {pathBounds.Max.Y:F2}, {pathBounds.Max.Z:F2})");
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LogManager.Info($"路径中心: ({pathCenter.X:F2}, {pathCenter.Y:F2}, {pathCenter.Z:F2})");
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LogManager.Info($"包围盒对角线: {diagonal:F2} 模型单位");
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// 临时移动物体到路径中心，以便在路径范围内检测潜在碰撞对象
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var offset = ModelItemTransformHelper.MoveItemToPosition(_animatedObject, pathCenter);
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try
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{
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LogManager.Info($"检测半径: {detectionGap:F2} 模型单位（对角线的一半）");
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// 调用ClashDetectiveIntegration的DetectCollisions方法
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// 现在物体在路径中心，检测路径长度半径内的对象
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// 该方法内部会自动排除通道对象（通过IsChannelObject方法）
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var collisionResults = ClashDetectiveIntegration.Instance.DetectCollisions(
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_animatedObject,
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excludeList,
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detectionGap
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);
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// 从碰撞结果中提取唯一的碰撞对象
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var potentialColliders = new HashSet<ModelItem>();
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foreach (var result in collisionResults)
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{
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if (result.Item2 != null && !potentialColliders.Contains(result.Item2))
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{
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potentialColliders.Add(result.Item2);
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}
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}
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var finalList = potentialColliders.ToList();
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LogManager.Info($"获取潜在碰撞对象完成: 总对象={allItems.Count}, " +
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$"排除自身及子对象={excludeList.Count}, " +
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$"路径沿途潜在碰撞对象={finalList.Count}（已自动排除通道）");
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return finalList;
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}
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finally
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{
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// 恢复物体到原位置
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ModelItemTransformHelper.RestoreItemPosition(_animatedObject, offset);
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LogManager.Info("物体已恢复到原始位置");
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}
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}
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catch (Exception ex)
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{
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LogManager.Error($"获取潜在碰撞对象失败: {ex.Message}");
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return new List<ModelItem>();
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}
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}
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/// <summary>
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/// 计算路径的包围盒
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/// </summary>
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private BoundingBox3D CalculatePathBounds()
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{
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if (_pathPoints == null || _pathPoints.Count == 0)
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return new BoundingBox3D();
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var minX = _pathPoints.Min(p => p.X);
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var minY = _pathPoints.Min(p => p.Y);
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var minZ = _pathPoints.Min(p => p.Z);
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var maxX = _pathPoints.Max(p => p.X);
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var maxY = _pathPoints.Max(p => p.Y);
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var maxZ = _pathPoints.Max(p => p.Z);
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return new BoundingBox3D(
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new Point3D(minX, minY, minZ),
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new Point3D(maxX, maxY, maxZ)
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);
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}
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/// <summary>
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/// 创建虚拟包围盒（用于碰撞检测）
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/// </summary>
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